commit 87cd6223820728bc18b29c67c299071e0950d251
author Brian Silverman <brians> Sun Mar 31 01:56:26 2013 -0700
committer Brian Silverman <brians> Sun Mar 31 09:22:32 2013 -0700
tree 2517a55bfa7be1ac032f7c395e4f70cacb7f3a20
parent ed2cbde497f502eacedd9db950eeeb9beeeb4713

unflipped left and right drivetrain encoders

aos/atom_code/starter/starter.sh

diff --git a/aos/atom_code/starter/starter.sh b/aos/atom_code/starter/starter.sh
index 394ae7c..4cffb1d 100755
--- a/aos/atom_code/starter/starter.sh
+++ b/aos/atom_code/starter/starter.sh
@@ -17,3 +17,4 @@
 #DUMPCAP_STDOUT_FILE=$(date "/home/driver/tmp/robot_logs/stdout_dumpcap.%F_%H-%M-%S")
 #chrt -o 0 bash -c "dumpcap -i eth0 -w ${DUMPCAP_LOG_FILE} -f 'not port 8080 and not net 10.9.71.13' > ${DUMPCAP_STDOUT_FILE}" &
 
+chrt -o 0 bash -c 'while true; do socat UDP4-RECV:6666,reuseaddr STDIO > /home/driver/tmp/robot_logs/netconsole-`date +%s`; done' &

aos/atom_code/starter/starter_loop.sh

diff --git a/aos/atom_code/starter/starter_loop.sh b/aos/atom_code/starter/starter_loop.sh
index b4e1d5c..83d34cc 100755
--- a/aos/atom_code/starter/starter_loop.sh
+++ b/aos/atom_code/starter/starter_loop.sh
@@ -4,4 +4,3 @@
 	starter_exe $* 1>/tmp/starter${i}_stdout 2>/tmp/starter${i}_stderr
 	sleep 2
 done
-

frc971/input/gyro_board_reader.cc

diff --git a/frc971/input/gyro_board_reader.cc b/frc971/input/gyro_board_reader.cc
index 5c682b0..b977c2b 100644
--- a/frc971/input/gyro_board_reader.cc
+++ b/frc971/input/gyro_board_reader.cc
@@ -186,8 +186,8 @@
         &last_shooter_angle_rise_count_, &shooter_angle_rise_count_);
 
     drivetrain.position.MakeWithBuilder()
-        .right_encoder(-drivetrain_translate(data->right_drive))
-        .left_encoder(drivetrain_translate(data->left_drive))
+        .right_encoder(drivetrain_translate(data->right_drive))
+        .left_encoder(-drivetrain_translate(data->left_drive))
         .Send();
 
     wrist.position.MakeWithBuilder()

frc971/input/gyro_sensor_receiver.cc

diff --git a/frc971/input/gyro_sensor_receiver.cc b/frc971/input/gyro_sensor_receiver.cc
index 55fa085..8b5604a 100644
--- a/frc971/input/gyro_sensor_receiver.cc
+++ b/frc971/input/gyro_sensor_receiver.cc
@@ -111,8 +111,8 @@
         &last_shooter_angle_rise_count_, &shooter_angle_rise_count_);
 
     drivetrain.position.MakeWithBuilder()
-        .right_encoder(-drivetrain_translate(data->right_drive))
-        .left_encoder(drivetrain_translate(data->left_drive))
+        .right_encoder(drivetrain_translate(data->right_drive))
+        .left_encoder(-drivetrain_translate(data->left_drive))
         .Send();
 
     wrist.position.MakeWithBuilder()